FSCL with varying no. of hidden units.

ALVINN (Autonomous Land Vehicle In a Neural Network) is a 3-layer back-propagation network designed for the task of road following. Currently ALVINNtakes images from a camera and a laser range finder as input and produces as output the direction the vehicle should travel in order to follow the road. Training has been conducted using simulated road images. Successful tests on the Carnegie Mellon autonomous navigation test vehicle indicate that the network can effectively follow real roads under certain field conditions. The representation developed to perfOIm the task differs dramatically whenthe networlc is trained under various conditions, suggesting the possibility of a novel adaptive autonomous navigation system capable of tailoring its processing to the conditions at hand.

In the developing visual system in many mammalian species, there is initially a uniform, overlappinginnervation of layer 4 of the visual cortex by inputs representing the two eyes. Subsequently, these inputs segregate into patches or stripes that are largely or exclusively innervated by inputs serving a single eye, known as ocular dominance patches. The ocular dominance patches are on a small scale compared to the map of the visual world, so that the initially continuous map becomes two interdigitated maps, one representing each eye. These patches, together with the layers of cortex above and below layer 4, whose responses are dominated by the eye innervating the corresponding layer 4 patch, are known as ocular dominance columns.

A great deal of interest has recently been focused on theories concerning parallel distributed processing in central nervous systems. In particular, many researchers have become very interested in the structure and function of "computational maps" in sensory systems. As defined in a recent review (Knudsen et al, 1987), a "map" is an array of nerve cells, within which there is a systematic variation in the "tuning" of neighboring cells for a particular parameter. For example, the projection from retina to visual cortex is a relatively simpletopographic map; each cortical hypercolumn itself contains a more complex "computational" map of preferred line orientation representing theangle of tilt of a simple line stimulus. The overall goal of the research in my lab is to determine how a relatively complex mapped sensory system extracts and encodes information from external stimuli.The preparation we study is the cercal sensory system of the cricket, Acheta domesticus.

We present and rigorously analyze a generalization of the Winner Take-All Network: the K-Winners-Take-All Network.

We propose a new neural network model and its learning algorithm. The proposed neural network consists of four layers - input, hidden, output and final output layers. The hidden and output layers are multiple. Using the proposed SICL(Spread Pattern Information and Cooperative Learning) algorithm, it is possible to learn analog data accurately and to obtain smooth outputs. Using this neural network, we have developed a speech production system consisting of a phonemic symbol production subsystem and a speech parameter production subsystem. We have succeeded in producing natural speech waves with high accuracy.

A time delay in the response of the neurons in a network can induce sustained oscillation and chaos. We present a stability criterion based on local stability analysis to prevent sustained oscillation in symmetric delay networks, and show an example of chaotic dynamics in a non-symmetric delay network.

Nearly optimal solutions to many combinatorial problems can be found using stochastic simulated annealing. This paper extends the concept of simulated annealing from its original formulation as a Markov process to a new formulation based on mean field theory. Mean field annealing essentially replaces the discrete degrees offreedom in simulated annealing with their average values as computed by the mean field approximation. The net result is that equilibrium at a given temperature is achieved 1-2 orders of magnitude faster than with simulated annealing. A general framework forthe mean field annealing algorithm is derived, and its relationship toHopfield networks is shown. The behavior of MFA is examined both analytically and experimentally for a generic combinatorial optimizationproblem: graph bipartitioning. This analysis indicates the presence of critical temperatures which could be important inimproving the performance of neural networks.

Published by AlP Press, New York, N.Y (1988).

This paper describes the construction of a system that recognizes hand-printed digits, using a combination of classical techniques and neural-net methods. The system has been trained and tested on real-world data, derived from zip codes seen on actual U.S. Mail. The system rejects a small percentage of the examples as unclassifiable, and achieves a very low error rate on the remaining examples. The system compares favorably with other state-of-the art recognizers. While some of the methods are specific to this task, it is hoped that many of the techniques will be applicable to a wide range of recognition tasks.